diff --git a/commands.c b/commands.c
index 368f0795..19249453 100644
--- a/commands.c
+++ b/commands.c
@@ -178,6 +178,7 @@ void commands_process_packet(unsigned char *data, unsigned char len) {
 		mcconf.l_min_erpm = (float)buffer_get_int32(data, &ind) / 1000.0;
 		mcconf.l_max_erpm = (float)buffer_get_int32(data, &ind) / 1000.0;
 		mcconf.l_max_erpm_fbrake = (float)buffer_get_int32(data, &ind) / 1000.0;
+		mcconf.l_max_erpm_fbrake_cc = (float)buffer_get_int32(data, &ind) / 1000.0;
 		mcconf.l_min_vin = (float)buffer_get_int32(data, &ind) / 1000.0;
 		mcconf.l_max_vin = (float)buffer_get_int32(data, &ind) / 1000.0;
 		mcconf.l_slow_abs_current = data[ind++];
@@ -237,6 +238,7 @@ void commands_process_packet(unsigned char *data, unsigned char len) {
 		buffer_append_int32(send_buffer, (int32_t)(mcconf.l_min_erpm * 1000.0), &ind);
 		buffer_append_int32(send_buffer, (int32_t)(mcconf.l_max_erpm * 1000.0), &ind);
 		buffer_append_int32(send_buffer, (int32_t)(mcconf.l_max_erpm_fbrake * 1000.0), &ind);
+		buffer_append_int32(send_buffer, (int32_t)(mcconf.l_max_erpm_fbrake_cc * 1000.0), &ind);
 		buffer_append_int32(send_buffer, (int32_t)(mcconf.l_min_vin * 1000.0), &ind);
 		buffer_append_int32(send_buffer, (int32_t)(mcconf.l_max_vin * 1000.0), &ind);
 		send_buffer[ind++] = mcconf.l_slow_abs_current;
diff --git a/conf_general.c b/conf_general.c
index 1aee5549..f8ac1b6b 100644
--- a/conf_general.c
+++ b/conf_general.c
@@ -69,6 +69,9 @@
 #ifndef MCPWM_CURR_MAX_RPM_FBRAKE
 #define MCPWM_CURR_MAX_RPM_FBRAKE		1500	// Maximum electrical RPM to use full brake at
 #endif
+#ifndef MCPWM_CURR_MAX_RPM_FBRAKE_CC
+#define MCPWM_CURR_MAX_RPM_FBRAKE_CC	1500	// Maximum electrical RPM to use full brake at with current control
+#endif
 #ifndef MCPWM_SLOW_ABS_OVERCURRENT
 #define MCPWM_SLOW_ABS_OVERCURRENT		false	// Use the filtered (and hence slower) current for the overcurrent fault detection
 #endif
@@ -239,6 +242,7 @@ void conf_general_read_mc_configuration(mc_configuration *conf) {
 		conf->l_min_erpm = MCPWM_RPM_MIN;
 		conf->l_max_erpm = MCPWM_RPM_MAX;
 		conf->l_max_erpm_fbrake = MCPWM_CURR_MAX_RPM_FBRAKE;
+		conf->l_max_erpm_fbrake_cc = MCPWM_CURR_MAX_RPM_FBRAKE_CC;
 		conf->l_min_vin = MCPWM_MIN_VOLTAGE;
 		conf->l_max_vin = MCPWM_MAX_VOLTAGE;
 		conf->l_slow_abs_current = MCPWM_SLOW_ABS_OVERCURRENT;
diff --git a/datatypes.h b/datatypes.h
index 7fc19976..9a2e5229 100644
--- a/datatypes.h
+++ b/datatypes.h
@@ -86,6 +86,7 @@ typedef struct {
 	float l_min_erpm;
 	float l_max_erpm;
 	float l_max_erpm_fbrake;
+	float l_max_erpm_fbrake_cc;
 	float l_min_vin;
 	float l_max_vin;
 	bool l_slow_abs_current;
diff --git a/led_external.c b/led_external.c
index 99fcd964..fb845604 100644
--- a/led_external.c
+++ b/led_external.c
@@ -111,8 +111,8 @@ static msg_t led_thread(void *arg) {
 
 				while (state == state_last && !HAS_FAULT()) {
 					if ((chTimeNow() / (CH_FREQUENCY / 2)) % 2) {
-						ws2811_set_led_color(WS2811_LED_NUM / 2 - 1, COLOR_ORANGE);
-						ws2811_set_led_color(WS2811_LED_NUM / 2, COLOR_ORANGE);
+						ws2811_set_led_color(WS2811_LED_NUM / 2 - 1, 0xFF9900);
+						ws2811_set_led_color(WS2811_LED_NUM / 2, 0xFF9900);
 					} else {
 						ws2811_set_led_color(WS2811_LED_NUM / 2 - 1, COLOR_BLACK);
 						ws2811_set_led_color(WS2811_LED_NUM / 2, COLOR_BLACK);
@@ -134,8 +134,8 @@ static msg_t led_thread(void *arg) {
 
 				while (state == state_last && !HAS_FAULT()) {
 					if ((chTimeNow() / (CH_FREQUENCY / 2)) % 2) {
-						ws2811_set_led_color(0, COLOR_ORANGE);
-						ws2811_set_led_color(WS2811_LED_NUM - 1, COLOR_ORANGE);
+						ws2811_set_led_color(0, 0xFF9900);
+						ws2811_set_led_color(WS2811_LED_NUM - 1, 0xFF9900);
 					} else {
 						ws2811_set_led_color(0, COLOR_BLACK);
 						ws2811_set_led_color(WS2811_LED_NUM - 1, COLOR_BLACK);
diff --git a/mcpwm.c b/mcpwm.c
index e1d02463..f1691e7b 100644
--- a/mcpwm.c
+++ b/mcpwm.c
@@ -1840,8 +1840,13 @@ void mcpwm_adc_int_handler(void *p, uint32_t flags) {
 
 			// Lower truncation
 			if (fabsf(dutycycle_now_tmp) < MCPWM_MIN_DUTY_CYCLE) {
-				dutycycle_now_tmp = 0.0;
-				dutycycle_set = dutycycle_now_tmp;
+				if (fabsf(rpm_now) < conf.l_max_erpm_fbrake_cc) {
+					dutycycle_now_tmp = 0.0;
+					dutycycle_set = dutycycle_now_tmp;
+				} else {
+					dutycycle_now_tmp = SIGN(dutycycle_now_tmp) * MCPWM_MIN_DUTY_CYCLE;
+					dutycycle_set = dutycycle_now_tmp;
+				}
 			}
 		} else {
 			utils_step_towards((float*)&dutycycle_now_tmp, dutycycle_set, ramp_step);